Extended residual learning with one-shot imitation learning for robotic assembly in semi-structured environment
Chuang Wang,
Chupeng Su,
Baozheng Sun
et al.
Abstract:IntroductionRobotic assembly tasks require precise manipulation and coordination, often necessitating advanced learning techniques to achieve efficient and effective performance. While residual reinforcement learning with a base policy has shown promise in this domain, existing base policy approaches often rely on hand-designed full-state features and policies or extensive demonstrations, limiting their applicability in semi-structured environments.MethodsIn this study, we propose an innovative Object-Embodime… Show more
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